Sensor element, force detecting device, robot and sensor device

ABSTRACT

A sensor element includes a piezoelectric substrate made of a trigonal single crystal and an electrode arranged on the piezoelectric substrate. The substrate surface of the piezoelectric substrate includes an electrical axis of crystal axes. An angle θ formed by the substrate surface and a plane including the electrical axis and an optical axis of the crystal axes is 0°&lt;θ&lt;20°.

CROSS-REFERENCE TO RELATED APPLICATIONS

This is a continuation patent application of U.S. application Ser. No.13/669,879 filed Nov. 6, 2012, which claims priority to Japanese PatentApplication No. 2011-244208 filed Nov. 8, 2011 both of which areexpressly incorporated by reference herein in their entireties.

BACKGROUND

1. Technical Field

The present invention relates to a sensor element, a force detectingdevice and a robot.

2. Related Art

JP-A-4-231827 discloses a known force sensor using a piezoelectricmaterial. As shown in FIG. 15 of JP-A-4-231827 plural measuring elementsare arranged on the force sensor. Each measuring element includes asignal electrode 15 held between crystal disks 16. The crystal disks 16are made of a piezoelectric material and are covered with a metal coverdisk 17.

JP-A-4-231827 discloses the use of quartz, which suggests rock crystal,as a piezoelectric material, and maintains that quartz is an optimummaterial for measuring a multiple-component motive force since quartzreceives both compressive and shear stress according to the crystal cutof the quartz. However, there is no description regarding the slicing ofthe piezoelectric material in a specific crystal direction.

SUMMARY

An advantage of some aspects of the invention is to provide a sensorelement which can detect a force with high sensitivity by finding acondition of use of a piezoelectric material that enables the generationof more electric charge in response to an external force, a sensordevice and a force detecting device using this sensor element, and arobot with high reliability and safety having this force detectingdevice.

The invention can be implemented in the following forms or applicationexamples.

Application Example 1

This application example is directed to a sensor element including apiezoelectric substrate made of a trigonal single crystal, a firstelectrode arranged on one substrate surface of the piezoelectricsubstrate, and a second electrode arranged on the other substratesurface. The substrate surface of the piezoelectric substrate includesan X-axis (electrical axis) of crystal axes. An angle θ formed by thesubstrate surface and a plane including the X-axis (electrical axis) anda Z-axis (optical axis) of the crystal axes is 0°<θ<20°.

According to the sensor element of this application example, comparedwith the case where a so-called Y-cut plate with θ=0° is used as thepiezoelectric substrate of the sensor element, the amount of electriccharge generated by a shear force applied to the piezoelectric substratecan be increased and a sensor element with high detection capability canbe provided.

Application Example 2

This application example is directed to the above application example,wherein a portion of an outer surface that intersects the substratesurface of the piezoelectric substrate includes a plane extending in theX-axis direction.

According to this application example, the plane of the site where alarge strain is generated by a shear force applied to the piezoelectricsubstrate extends in the direction of the shear force. Therefore, a sitewhere a large amount of electric charge is generated can be formed onthe piezoelectric substrate and a sensor element with high detectioncapability can be provided.

Application Example 3

This application example is directed to a sensor element including apiezoelectric substrate made of a trigonal single crystal, a firstelectrode arranged on one substrate surface of the piezoelectricsubstrate, and a second electrode arranged on the other substratesurface. The substrate surface of the piezoelectric substrate hascrystal axes including a Y-axis (mechanical axis) and a Z-axis (opticalaxis). A portion of an outer surface intersecting the substrate surfaceincludes a plane. An angle λ formed by the plane of the outer surfaceand a plane including an X-axis (electrical axis) and the Z-axis(optical axis) of the crystal axes is 25°≦λ≦85°.

According to the sensor element of this application example, comparedwith the case where an X-cut plate with λ=0° is used as thepiezoelectric substrate of the sensor element, a site where a largestrain is generated by a compressive force applied to the piezoelectricsubstrate extends to an outer part of the piezoelectric substrate andtherefore an electric charge generation site area where more electriccharge is generated by an increase in the strain is broadened. Thus, asensor element with high detection capability can be provided.

Application Example 4

This application example is directed to the above application example,where the single crystal is a rock crystal.

According to this application example, by using a rock crystal substrateas the piezoelectric substrate, a large amount of electric charge can begenerated even with a very small strain and a sensor element with highdetection capability can be provided. Moreover, a single crystal can beeasily obtained and a piezoelectric substrate with excellent workabilityand quality stability can be formed. Thus, a sensor element capable ofstable detection can be provided.

Application Example 5

This application example is directed to a force detecting deviceincluding the above sensor element, and an arithmetic unit which detectsan amount of electric charge induced in the first electrode or thesecond electrode and calculates a force applied to the sensor element.

According to the force detecting device of this application example, atriaxial force detecting device can be provided with a simpleconfiguration. Also, by using plural such triaxial force detectingdevices, for example, a six-axis force detecting device including torquemeasuring can be easily provided.

Application Example 6

This application example is directed to a robot including the abovesensor element, and an arithmetic unit which detects an amount ofelectric charge induced in the first electrode or the second electrodeand calculates a force applied to the sensor element.

According to the robot of this application example, a contact with anobstacle and a contacting force to an object during a predeterminedoperation of a robot arm or robot hand that make differential movementsare securely detected by a force detecting device and data is fed backto a robot control device. Thus, a robot capable of performing safe andfine work can be provided.

BRIEF DESCRIPTION OF THE DRAWINGS

The invention will be described with reference to the accompanyingdrawings, wherein like numbers reference like elements.

FIGS. 1A to 1C show a sensor element according to a first embodiment.FIG. 1A is a sectional view. FIG. 1B is an exploded perspective view.FIG. 1C is a view from the direction of an arrow A in FIG. 1B.

FIG. 2 is a schematic view showing a method for forming a rock crystalsubstrate according to the first embodiment in relation to crystal axesX, Y, and Z.

FIGS. 3A to 3C show a sensor element according to a second embodiment.FIG. 3A is a sectional view. FIG. 3B is an exploded perspective view.FIG. 3C is a view from the direction of an arrow B in FIG. 2B.

FIG. 4 is a schematic view showing a method for forming a rock crystalsubstrate according to the second embodiment in relation to crystal axesX, Y, and Z.

FIGS. 5A and 5B are plan views showing other forms of the rock crystalsubstrate according to the second embodiment.

FIG. 6 is a sectional view showing a sensor device according to a thirdembodiment.

FIGS. 7A to 7C show sensor devices as other forms of the thirdembodiment. FIG. 7A is a sectional view. FIGS. 7B and 7C are explodedperspective views.

FIGS. 8A and 8B show a force detecting device according to a fourthembodiment. FIG. 8A is a sectional view. FIG. 8B is a conceptual viewshowing the arrangement of sensor devices.

FIGS. 9A and 9B show another force detecting device according to thefourth embodiment. FIG. 9A is a plan view. FIG. 9B is a sectional viewtaken along C-C′ in FIG. 9A.

FIG. 10 shows the configuration of a robot according to a fifthembodiment.

FIGS. 11A and 11B are graphs showing examples of implementation. FIG.11A shows an example of implementation of the sensor element accordingto the first embodiment. FIG. 11B shows an example of implementation ofthe sensor element according to the second embodiment.

DESCRIPTION OF EXEMPLARY EMBODIMENTS

Hereinafter, embodiments of the invention will be described.

First Embodiment

FIGS. 1A to 1C show a sensor element according to a first embodiment.FIG. 1A is a sectional view. FIG. 1B is an exploded perspective view.FIG. 1C is a view from the direction of an arrow A in FIG. 1B. A sensorelement 100 shown in FIGS. 1A to 1C includes a rock crystal substrate 10as a piezoelectric substrate, a detection electrode 20 as a firstelectrode, and a grounding electrode (hereinafter referred to as GNDelectrode) 30 as a second electrode. The material of the piezoelectricsubstrate is not limited to rock crystal as long as the material is atrigonal single crystal. A trigonal single crystal refers to a crystalwhich has crystal axes such that three symmetry axes with equal lengthsintersect each other at an angle of 120°, with one vertical axis meetingthe point of intersection. In addition to rock crystal, trigonal singlecrystals include langasite (La₃Ga₅SiO₁₄), lithium niobate (LiNbO₃)single crystal, lithium tantalate (LiTaO₃) single crystal, galliumphosphate (GaPO₄) single crystal, lithium borate (Li₂B₄O₇) singlecrystal and the like. In this embodiment, a rock crystal which cangenerate a large amount of electric charge even with a very small strainand can easily provide a single crystal and also has excellentworkability and quality stability is used.

In the sensor element 100 shown in FIG. 1A, the detection electrode 20is arranged on one substrate surface 10 a of the rock crystal substrate10, and the GND electrode 30 is arranged on the other substrate surface10 b. The rock crystal substrate 10 is held between the detectionelectrode 20 and the GND electrode 30. That is, in terms of theillustrated coordinate axes α, β, γ, the detection electrode 20, therock crystal substrate 10 and the GND electrode 30 are stacked in thisorder in the γ direction, thus forming the sensor element 100. If aforce Fα in a shear direction along the illustrated α-axis direction isapplied to the sensor element 100, the rock crystal substrate 10 isdeformed into a shape like a deformed rock crystal substrate 10′. Withthe strain due to this deformation, electric charge is generated in therock crystal substrate 10.

Here, in the case where the rock crystal substrate 10 is made of aso-called Y-cut plate in which a plane intersecting the Y-axis as themechanical axis of the crystal axes and including the X-axis as theelectrical axis constitutes a main surface, if the deformation shown inFIG. 1A, that is, the strain that causes the deformation into the rockcrystal substrate 10′ is generated, positive (+) electric charge isgenerated inside the rock crystal substrate 10 on the side of the onesubstrate surface 10 a of the rock crystal substrate 10 where thedetection electrode 20 is arranged, and negative (−) electric charge isgenerated inside the rock crystal substrate 10 on the side of the othersubstrate surface 10 b where the GND electrode 30 is arranged. The −electric charge on the side of the other substrate surface 10 b isdischarged to the ground (GND), not shown, by the GND electrode 30.The + electric charge on the side of the one substrate surface 10 a issent as a detection value to an arithmetic unit, not shown, by thedetection electrode 20. Based on the resulting amount of electriccharge, the force Fα in the α direction is calculated.

In the rock crystal substrate 10 made of a rock crystal that is atrigonal single crystal as a piezoelectric body, electric charge isgenerated as described above by an internal strain. The amount of thiselectric charge increases and decreases depending on the angle of thesubstrate surfaces 10 a, 10 b of the rock crystal substrate 10 to thecrystal axes X, Y, Z. A larger amount of electric charge can be obtainedparticularly depending on the following forming conditions of thesubstrate surfaces 10 a, 10 b.

FIG. 1C shows the rock crystal substrate 10, as viewed from thedirection of the arrow A shown in FIG. 1B along the α-axis. As shown inFIG. 1C, if the substrate surfaces 10 a, 10 b of the rock crystalsubstrate 10 are defined in terms of the crystal axes X, Y, Z, the rockcrystal substrate 10 is sliced out with an angle θ formed by the onesubstrate surface 10 a of the rock crystal substrate 10 and a planedefined by the Z-axis and X-axis.

FIG. 2 schematically shows the method for forming the rock crystalsubstrate 10 in relation to the crystal axes X (electrical axis), Y(mechanical axis), Z (optical axis). As shown in FIG. 2, the rockcrystal substrate 10 is formed in such a way that an angle formed by asurface 1 a including the X-axis and Z-axis and orthogonal to theY-axis, of a rock crystal body 1 sliced out along the crystal axes X, Y,Z, and the substrate surfaces 10 a, 10 b, within a plane defined by theY-axis and Z-axis, becomes the angle θ. The angle θ may be preferablyformed within a range of 0°<θ<20°. By thus forming the rock crystalsubstrate 10, the amount of electric charge generated by the force Fαcan be increased and a sensor element with high detection capability canbe provided.

Second Embodiment

FIGS. 3A to 3C show a sensor element according to a second embodiment.FIG. 3A is a sectional view. FIG. 3B is an exploded perspective view.FIG. 3C is a view from the direction of an arrow B in FIG. 3B. A sensorelement 200 according to the second embodiment is different in the formof the rock crystal substrate 10 from the sensor element 100 accordingto the first embodiment, and the other parts of the configuration arethe same as the first embodiment. Therefore, the same parts of theconfiguration are denoted by the same reference numerals and will not bedescribed further in detail. As shown in FIGS. 3A to 3C, the sensorelement 200 according to the second embodiment is the sensor element 200that detects a force Fγ in a direction in which a rock crystal substrate40 is compressed, that is, in a γ direction. The sensor element 200 hasa configuration in which a detection electrode 20 as a first electrode,the rock crystal substrate 40 as a piezoelectric substrate, and a GNDelectrode 30 as a second electrode are stacked in the γ direction. As inthe sensor element 100 according to the first embodiment, the materialof the piezoelectric substrate is not limited to rock crystal as long asthe material is a trigonal single crystal. However, also in thisembodiment, an example in which a rock crystal is used as apiezoelectric material is described.

If a compressive force Fγ in the γ direction is applied to the sensorelement 200, as shown in FIG. 3A, the rock crystal substrate 40 iscompressed and deformed into a shape like a rock crystal substrate 40′.With the strain due to this deformation, electric charge is generated inthe rock crystal substrate 40. Here, the rock crystal substrate 40 ismade of a so-called X-cut plate in which a plane intersecting the X-axisas the electrical axis of the crystal axes and including the Y-axis asthe mechanical axis and the Z-axis as the optical axis constitutes amain surface. If the deformation shown in FIG. 3A, that is, the strainis generated, positive (+) electric charge is generated inside the rockcrystal substrate 40 on the side of one substrate surface 40 a of therock crystal substrate 40 where the detection electrode 20 is arranged,and negative (−) electric charge is generated inside the rock crystalsubstrate 40 on the side of the other substrate surface 40 b where theGND electrode 30 is arranged. The − electric charge on the side of theother substrate surface 40 b is discharged to the ground (GND), notshown, by the GND electrode 30. The + electric charge on the side of theone substrate surface 40 a is sent as a detection value to an arithmeticunit, not shown, by the detection electrode 20. Based on the resultingamount of electric charge, the force Fγ in the γ direction iscalculated.

In the rock crystal substrate 40 made of a rock crystal that is atrigonal single crystal as a piezoelectric body, electric charge isgenerated as described above by an internal strain. The amount of thiselectric charge increases and decreases depending on the angle formed byplanes 40 c, 40 d forming a part of an outer surface intersecting thesubstrate surfaces 40 a, 40 b of the rock crystal substrate 40 and thesurface defined by the X-axis and Z-axis. A larger amount of electriccharge can be obtained particularly depending on the following formingconditions of the planes 40 c, 40 d.

FIG. 3C shows a view from the direction of the arrow B shown in FIG. 3B.As shown in FIG. 3C, the outer surface forming the outer shape of therock crystal substrate 40 includes at least one plane. In thisembodiment, the outer surface includes the planes 40 c, 40 d. The rockcrystal substrate 40 is sliced out in such a way that the plane 40 d hasan angle λ relative to a plane defined by the X-axis and Y-axis of thecrystal axes. In this embodiment, the rock crystal substrate 40 isrectangular and the plane 40 c and the plane 40 d of the outer surfaceare substantially parallel to each other. Therefore, the rock crystalsubstrate 40 is sliced out in such a way that the plane 40 c, too, hasan angle λ relative to the plane defined by the X-axis and Y-axis of thecrystal axes.

FIG. 4 schematically shows the method for forming the rock crystalsubstrate 40 in relation to the crystal axes X, Y, Z. As shown in FIG.4, the rock crystal substrate 40 is formed in such a way that an angleformed by a surface 2 a defined by the X-axis and Z-axis of a rockcrystal body 2 sliced out along the crystal axes X, Y, Z and the plane40 d of the outer surface becomes the angle λ. Since the plane 40 c issubstantially parallel to the plane 40 d, the rock crystal substrate 40is formed in such a way that an angle formed by the surface 2 a and theplane 40 c becomes the angle λ, too. The angle λ may be preferablyformed within a range of 25°≦λ≦85°. By thus forming the rock crystalsubstrate 40, the amount of electric charge generated by the force Fγcan be increased and a sensor element with high detection capability canbe provided.

FIGS. 5A and 5B are views showing other forms of the rock crystalsubstrate 40. In the rock crystal substrate 40 according to the secondembodiment, as described above, as the plane 40 c or the plane 40 d ofthe outer surface intersects the surface 2 a (see FIG. 4) defined by theX-axis and Z-axis, at the angle λ, a large amount of electric charge isgenerated. Therefore, the outer surface except the planes 40 c, 40 d isnot limited to a plane. That is, as in a rock crystal substrate 41 shownin FIG. 5A, parts other than a plane 41 c or a plane 41 d intersectingthe surface 2 a (see FIG. 4) defined by the X-axis and Z-axis, at theangle λ, may be round surfaces 41 a, 41 b. Also, as in a rock crystalsubstrate 42 shown in FIG. 5B, one plane 42 b may intersect the surface2 a (see FIG. 4) defined by the X-axis and Z-axis, at the angle λ, andthe other parts of the surface may be a round surface 42 a or the like.

Third Embodiment

FIG. 6 is a sectional view showing a sensor device according to a thirdembodiment. As shown in FIG. 6, in a sensor device 1000, the sensorelement 100 having the rock crystal substrate 10 or the sensor element200 having the rock crystal substrate 40 is housed in a cylindricalcontainer 400 and is pressed and fixed by bases 301, 302. The detectionelectrode 20 and the GND electrode 30 are electrically connected to anarithmetic unit 500. The arithmetic unit 500 includes a QV amplifier,not shown, which converts the electric charge obtained by the detectionelectrode 20, and also includes GND (ground) connected with the GNDelectrode 30. By employing such a configuration, the sensor device 1000can easily detect a force applied between the base 301 and the base 302.

FIGS. 7A to 7C show sensor devices 1100, 1200 as other forms of thethird embodiment. FIG. 7A is a sectional view. FIG. 7B is an explodedperspective view of the sensor device 1100. FIG. 7C is an explodedperspective view of the sensor device 1200. The sensor devices 1100,1200 shown in FIGS. 7A to 7C have a configuration in which the rockcrystal substrate 10 or the rock crystal substrate 40 as a piezoelectricsubstrate is arranged on both sides of the detection electrode 20,compared with the above sensor device 1000. That is, two sensor elements100 or two sensor elements 200 are stacked, sharing the detectionelectrode 20. As shown in FIG. 7A, in the sensor device 1100, a sensorelement 101 and a sensor element 102 are arranged so as to share thedetection electrode 20, and in the sensor device 1200, a sensor element201 and a sensor element 202 are arranged so as to share the detectionelectrode 20.

The two sensor elements 101, 102 or the sensor elements 201, 202, thusarranged, are housed in a cylindrical container 410 and pressed andfixed by the bases 301, 302. The detection electrode 20 and the GNDelectrode 30 are electrically connected to an arithmetic unit 510. Thearithmetic unit 510 includes a QV amplifier, not shown, which convertsthe electric charge obtained by the detection electrode 20, and alsoincludes GND (ground) connected with the GND electrode 30.

FIG. 7B shows the arrangement of the sensor elements 101, 102 in thesensor device 1100. As shown in FIG. 7B, the sensor element 101 and thesensor element 102 are stacked along an illustrated stacking directionN, with the γ directions of the sensor elements aligned, as in thesensor element 100 according to the first embodiment. Here, the sensorelement 101 and the sensor element 102 are arranged so that the αdirections and γ directions of the sensor elements become opposite toeach other so that electric charge of the same polarity is generated onthe surface 10 a that contacts the detection electrode 20, of the rockcrystal substrate 10 on the upper side in the illustrated N direction,and on the surface 10 b of the rock crystal substrate 10 on the lowerside in the illustrated N direction, when a force along an illustrated Ldirection is detected in the sensor device 1100.

FIG. 7C shows the arrangement of the sensor elements 201, 202 in thesensor device 1200. As shown in FIG. 7C, the sensor element 201 and thesensor element 202 are arranged with the sides of each sensor elementreversed to each other, that is, so that the one substrate surface 40 aof the rock crystal substrate 40 contacts the detection electrode 20.Thus, when a force along the N direction, that is, a force in thecompressing direction is applied, electric charge of the same polaritycan be generated on the one substrate surface 40 a of the two rockcrystal substrates 40 contacting the detection electrode 20.

By employing such a configuration, electric charge can be generated inthe two rock crystal substrates 10 or rock crystal substrates 40 by aforce applied between the base 301 and the base 302, and about twice theelectric charge in the sensor device 1000 can be obtained. Therefore,the sensor devices 1100, 1200 can easily detect even a very small force.

Fourth Embodiment

FIGS. 8A and 8B show a force detecting device according to a fourthembodiment. FIG. 8A is a sectional view. FIG. 8B is a conceptual viewshowing the arrangement of sensor devices. In FIG. 8A, a direction inwhich electrodes and rock crystal substrates are stacked (upwarddirection in FIG. 8A) is defined as a V(+) direction. A rightwarddirection in FIG. 8A, orthogonal to the V direction is an Hx(+)direction. A direction heading toward FIG. 8A from the viewer is anHy(+) direction. In a force detecting device 2000 shown in FIG. 8A,electrodes and rock crystal substrates are alternately stacked within acylindrical container 420 between a base 311 and a base 312 and arepressed and fixed by the base 311 and the base 312.

The electrodes and the rock crystal substrates housed in the cylindricalcontainer 420 are stacked as follows. From the side of the base 311, asensor device 1101 in which sensor elements 101, 102 are stacked in thesame configuration as the sensor device 1100 according to the anotherform of the third embodiment, followed by a sensor device 1102 in whichsensor elements 101, 102 are stacked in the same configuration as thesensor device 1100, and then a sensor device 1200 in which sensorelements 201, 202 are stacked. In the sensor devices 1101, 1102, 1200thus stacked, the GND electrodes 30 except the GND electrode contactingthe bases 311, 312 are shared by the sensor devices 1101, 1102, 1200.

As shown in FIG. 8B, the arrangement of the sensor device 1102 is in adirection that results from rotating the sensor device 1101 by an angleof 90° about the V-axis. That is, the L-axis of the sensor device 1101which detects a force along the L-axis is aligned with the Hx-axis, andthe sensor device 1102 is arranged by rotating the L-axis by an angle of90° about the V-axis and aligning the L-axis with the Hy-axis. Thus,forces along the Hx-axis and Hy-axis can be detected. Moreover, thesensor device 1200 which detects a force in the N-axis direction isarranged by aligning the N-axis with the V-axis. Thus, a force along theV-axis can be detected. In this manner, the force detecting device 2000incorporating the sensor devices 1101, 1102, 1200 can detect forces inthe Hx, Hy and V directions, that is, in triaxial directions.

If a force is applied to the bases 311, 312 of the force detectingdevice 2000 thus configured, based on the electric charge generated inthe sensor device 1101, 1102, 1200, vector data of the applied externalforce including force components of Hx, Hy and V directions obtained byan Hx direction arithmetic unit 610 based on the electric charge of thesensor device 1101, by an Hy direction arithmetic unit 620 based on theelectric charge of the sensor device 1102, and by a V directionarithmetic unit 630 based on the electric charge of the sensor device1200, are outputted to a control device, not shown, with the Hx, Hy andV direction arithmetic units 610, 620, 630 being provided in anarithmetic device 600 as an arithmetic unit. The electric charge excitedin the GND electrode 30 is grounded and discharged by GND 640 providedin the arithmetic device 600.

As described above, the force detecting device 2000 according to thisembodiment can be a small-sized force detecting device by havingelectrodes and rock crystal substrates as piezoelectric substratesstacked in one direction. Also, the force detecting device of thisembodiment can be formed by stacking electrodes and rock crystalsubstrates of simple shapes and therefore can be a low-cost forcedetecting device.

FIGS. 9A and 9B schematically show a six-axis force detecting device3000 which uses the force detecting device 2000 according to the aboveembodiment and is capable of torque detection. FIG. 9A is a plan view.FIG. 9B is a sectional view taken along C-C′ shown in FIG. 9A. As shownin FIGS. 9A and 9B, the six-axis force detecting device 3000 has aconfiguration in which four force detecting devices 2000 are fixed bybases 321, 322. By employing this six-axis force detecting device 3000,it is possible to find the torque about each of the Hx-axis, Hy-axis andV-axis based on the distance between the four force detecting devices2000 that are arranged and the force obtained by each force detectingdevice 2000.

Fifth Embodiment

FIG. 10 is an external view showing the configuration of a robot 4000using the force detecting device 2000 according to the third embodimentor the six-axis force detecting device 3000. The robot 4000 includes abody portion 4100, an arm portion 4200, a robot hand portion 4300 andthe like. The body portion 4100 is fixed, for example, on a floor, wall,ceiling, movable trolley or the like. The arm portion 4200 is providedmovably in relation to the body portion 4100. An actuator, not shown,which generates a motive force to rotate the arm portion 4200, a controlunit which controls the actuator, and the like are arranged inside thebody portion 4100.

The arm portion 4200 includes a first frame 4210, a second frame 4220, athird frame 4230, a fourth frame 4240 and a fifth frame 4250. The firstframe 4210 is connected to the body portion 4100 in a rotatable orbendable manner via a rotation-bending axis. The second frame 4220 isconnected to the first frame 4210 and the third frame 4230 via arotation-bending axis. The third frame 4230 is connected to the secondframe 4220 and the fourth frame 4240 via a rotation-bending axis. Thefourth frame 4240 is connected to the third frame 4230 and the fifthframe 4250 via a rotation-bending axis. The fifth frame 4250 isconnected to the fourth frame 4240 via a rotation-bending axis. Underthe control of the control unit, the arm portion 4200 operates as eachof the frames 4210 to 4250 rotates or bends in a complex manner abouteach rotation-bending axis.

The robot hand portion 4300 is attached on the side of the fifth frame4250 of the arm portion 4200 that is opposite to the connecting partwith the fourth frame 4240. The robot hand portion 4300 includes a robothand 4310 which can grip an object, and a robot hand connecting portion4320 in which a motor to rotate the robot hand 4310 is arranged. Therobot hand portion 4300 is connected to the fifth frame 4250 by therobot hand connecting portion 4320.

In the robot hand connecting portion 4320, the force detecting device2000 according to the third embodiment or the six-axis force detectingdevice 3000 is arranged in addition to the motor. Thus, when the robothand portion 4300 is moved to a predetermined operating position underthe control of the control unit, contact with an obstacle or contactwith an object in response to an operation command to exceed apredetermined position, or the like, can be detected as a force by theforce detecting device 2000 or the six-axis force detecting device 3000.This force can be fed back to the control unit of the robot 4000 so thatan evasive action can be executed.

Using such a robot 4000, a robot that can easily carry out an obstacleavoiding operation, an object damage avoiding operation and the like,which cannot be realized by traditional position control, and that canperform safe and fine work, can be provided. The technique is notlimited to this embodiment and can also be applied to, for example, atwo-arm robot.

Example

FIGS. 11A and 11B are graphs showing the amount of electric chargegenerated when a force is applied to the sensor element 100 according tothe first embodiment and the sensor element 200 according to the secondembodiment. The result of calculating the amount of electric charge inrelation to the angle θ in the case of the sensor element 100 is shownin FIG. 11A. The result of calculating the amount of electric charge inrelation to the angle λ in the case of the sensor element 200 is shownin FIG. 11B. The piezoelectric substrate is made of a rock crystal witha plane size of 5 mm by 5 mm and a thickness of 200 μm. Fα=500N andFγ=500N are applied in the illustrated directions.

As shown in FIG. 11A, in the case where the sensor element 100 accordingto the first embodiment is used, compared with a general Y-cut platewith θ=0°, an amount of electric charge exceeding the amount of electriccharge in the case of θ=0° can be obtained if θ is increased within arange of 0°<θ<20°.

As shown in FIG. 11B, in the case where the sensor element 200 accordingto the second embodiment is used, compared with a general X-cut platewith λ=0°, an amount of electric charge exceeding the amount of electriccharge in the case of λ=0° can be obtained if λ is within a range of25°≦λ≦85°.

What is claimed is:
 1. A robot comprising: a piezoelectric substrateincluding a trigonal single crystal having crystal axes; a firstelectrode on a first surface of the piezoelectric substrate; a secondelectrode on a second surface, the first and second surfaces being onopposite sides of the piezoelectric substrate; an arithmetic unit whichdetects an amount of electric charge induced in the first or secondelectrode and calculates a force applied to the piezoelectric substrate;a rotatable arm portion; and a hand portion supported on the arm portionvia the piezoelectric substrate, the hand portion being adapted to gripan object; wherein the first surface of the piezoelectric substrateincludes an electrical axis of the crystal axes, an angle θ between thefirst surface and a plane including the electrical axis and an opticalaxis of the crystal axes is 0°<θ<20°, and a material for thepiezoelectric electric substrate is selected from the group consistingof langasite (La₃Ga₅SiO₁₄), lithium niobate (LiNbO₃) single crystal,lithium tantalite (LiTaO₃) single crystal, gallium phosphate (GaPO₄)single crystal, and lithium borate (Li₂B₄O₇) single crystal.
 2. Therobot according to claim 1, comprising four of the sensor units.
 3. Therobot according to claim 1, wherein the first surface of thepiezoelectric substrate includes the electrical axis, a mechanical axis,and an optical axis of the crystal axes, a portion of an outer sidesurface that is different from the first and second surfaces of thepiezoelectric substrate includes a plane, and an angle λ between theplane of the outer side surface and a plane including an electrical axisand the optical axis of the crystal axes is 25°≦λ≦85°.
 4. A robotcomprising: a piezoelectric substrate including a trigonal singlecrystal having crystal axes; a first electrode on a first surface of thepiezoelectric substrate; and a second electrode on a second surface, thefirst and second surfaces being on opposite sides of the piezoelectricsubstrate; an arithmetic unit which detects an amount of electric chargeinduced in the first electrode or the second electrode and calculates aforce applied to the piezoelectric substrate; a rotatable arm portion;and a hand portion supported on the arm portion via the sensor element,the hand portion being adapted to grip an object; wherein the firstsurface of the piezoelectric substrate includes a mechanical axis and anoptical axis of the crystal axes, an outer side surface being differentfrom the first and second surfaces of the piezoelectric substrateincludes a plane, an angle λ between the plane of the outer surface anda plane including an electrical axis and the optical axis of the crystalaxes is 25°≦λ≦85°, and a material for the piezoelectric electricsubstrate is selected from the group consisting of langasite(La₃Ga₅SiO₁₄), lithium niobate (LiNbO₃) single crystal, lithiumtantalite (LiTaO₃) single crystal, gallium phosphate (GaPO₄) singlecrystal, and lithium borate (Li₂B₄O₇) single crystal.
 5. The robotaccording to claim 4, comprising four of the sensor units.